Казанский (Приволжский) федеральный университет, КФУ
КАЗАНСКИЙ
ФЕДЕРАЛЬНЫЙ УНИВЕРСИТЕТ
 
IMPROVING MODEL OF CRAWLER ROBOT SERVOSILA ENGINEER FOR SIMULATION IN ROS/GAZEBO
Форма представленияСтатьи в зарубежных журналах и сборниках
Год публикации2020
Языканглийский
  • Доброквашина Александра Сергеевна, автор
  • Лавренов Роман Олегович, автор
  • Библиографическое описание на языке оригинала Dobrokvashina A., Lavrenov R., Martinez-Garcia E. A., Bai Y. Improving model of crawler robot Servosila Engineer for simulation in ROS/Gazebo // Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2020. - Vol.2020-December, Is.. - P.212-217.
    Аннотация Crawler robots are popular in tasks of urban search and rescue. Because of using tracks most of these robots have good traversability on rough terrains. For creating and testing these abilities and crawler robot itself often used simulators, which could help to reconstruct most of the conditions and environment without any difficulties. And this is a reason why most of the robots must have its simulation model.In this paper, we present a fully equipped and moving model of tracked robot Servosila «Engineer«. It contains all of the sensors that used a real robot with the ability to get information from them via ROS topics through all the time of the simulation. Also, it has similar to real robot control elements, physic characteristics and useful crawler simulation.
    Ключевые слова crawler robot, Gazebo, modeling, ROS, Servosila Engineer, track simulation, urban search and rescue, USAR
    Название журнала Proceedings - International Conference on Developments in eSystems Engineering, DeSE
    URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85112504372&doi=10.1109%2fDeSE51703.2020.9450233&partnerID=40&md5=b08a83c4534e108db0c659bd667ce681
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